基于无模型自适应控制的自动泊车方案  

Model-free adaptive control based automatic parking scheme

作　　者：王文佳 侯忠生 WANG Wen-jia;HOU Zhong-sheng(School of Automation,Qingdao University,Qingdao 266071,China)

机构地区：[1]青岛大学自动化学院,山东青岛266071

出　　处：《控制与决策》2022年第8期2056-2066,共11页Control and Decision

基　　金：国家自然科学基金项目(61833001,62073025)。

摘　　要：提出一种基于无模型自适应控制的自动泊车方案.首先,通过车载传感器采集车周环境信息用于规划期望路径;然后,将自动泊车跟踪问题转化为预瞄偏差角跟踪问题,通过设计相应的无模型自适应控制算法实现自动泊车.该方案设计的优点是仅使用自动泊车过程中生成的前轮转角输入数据和预瞄偏差角输出数据,没有使用任何被控车辆的信息,因此可适用于不同车型.Matlab仿真以及与PID控制方案和Fuzzy控制方案的对比仿真结果验证了所提出方案的可行性.This paper proposes a control scheme based on model-free adaptive control for automatic parking.In this scheme,the vehicle environment information is collected by the on-board sensor to plan the desired path.Then,the tracking problem of automatic parking is transformed into the tracking problem of preview-deviation-yaw.The automatic parking is realized by designing the corresponding model-free adaptive control algorithm.The advantage of this scheme is that only the input data of front wheel rotation angle and the output data of preview-deviation-yaw are utilized,while not using any informations of the controlled vehicle.Therefore,this scheme can be applied to different vehicles.The simulation results of Matlab and the comparison with the PID control scheme and the fuzzy control scheme verify the feasibility of the proposed scheme.

关 键 词：无模型自适应控制 自动泊车 预瞄偏差角 路径跟踪 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]